Hi all,
I would suggest a new type of gear within Mechanism: a mechanism where you can insert the law of motion of another axis, always into refer to the rotation/translation of another axis.
Now the normal constraint gear works with a linear function between input and output:
output(tau) = input * tau
tau = transmission ratio = r1/r2
but if we could have the possibility of insert a different function to correlate the two axis?
In this manner we can command a motion chain with only one servo motor as you do in the realty.